{"id":21323782,"url":"https://github.com/ggldnl/hexapod-simulation","last_synced_at":"2026-02-18T13:31:36.615Z","repository":{"id":262866206,"uuid":"886173509","full_name":"ggldnl/Hexapod-Simulation","owner":"ggldnl","description":"PyBullet simulation to test gait strategies for my hexapod robot","archived":false,"fork":false,"pushed_at":"2025-02-23T16:07:33.000Z","size":6140,"stargazers_count":3,"open_issues_count":0,"forks_count":2,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-10-24T11:07:12.349Z","etag":null,"topics":["gaits","hexapod-robot","pybullet","robot","simulation"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ggldnl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-11-10T11:57:57.000Z","updated_at":"2025-08-25T08:25:49.000Z","dependencies_parsed_at":"2024-12-03T16:19:40.876Z","dependency_job_id":"ad24d7cb-e5ba-4cce-8d12-584f77ae5814","html_url":"https://github.com/ggldnl/Hexapod-Simulation","commit_stats":null,"previous_names":["ggldnl/hexapod-simulation"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ggldnl/Hexapod-Simulation","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ggldnl%2FHexapod-Simulation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ggldnl%2FHexapod-Simulation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ggldnl%2FHexapod-Simulation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ggldnl%2FHexapod-Simulation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ggldnl","download_url":"https://codeload.github.com/ggldnl/Hexapod-Simulation/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ggldnl%2FHexapod-Simulation/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29580808,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-18T08:38:15.585Z","status":"ssl_error","status_checked_at":"2026-02-18T08:38:14.917Z","response_time":162,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["gaits","hexapod-robot","pybullet","robot","simulation"],"created_at":"2024-11-21T20:27:16.046Z","updated_at":"2026-02-18T13:31:36.609Z","avatar_url":"https://github.com/ggldnl.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Hexapod Simulation\n\nThis repository includes the code to simulate the Hexapod. \nIt includes code to visualize and interact with the robot in Viser and code to simulate it in a PyBullet environment. \n\nFor a complete overview of the project, refer to the [main Hexapod repository](https://github.com/ggldnl/Hexapod).\n\n## 🛠️ Setup\n\nBefore you start, ensure `mamba` is properly installed on the machine you are using for the simulation.\n\n1. Clone the repository:\n\n   ```bash\n    git clone --recursive https://github.com/ggldnl/Hexapod-Simulation.git\n    ```\n   \n   The [Hexapod-Controller](https://github.com/ggldnl/Hexapod-Controller.git) and [Hexapod-Hardware]((https://github.com/ggldnl/Hexapod-Hardware.git)) repositories are configured as submodules and are automatically downloaded. If for some reason you need to update the submodules in the future:\n\n    ```bash\n    # Update the submodules if something changes in the future\n    git submodule update --recursive --remote\n    ```\n\n2. Create a mamba environment:\n\n    ```bash\n    cd Hexapod-Simulation\n    mamba env create -f environment.yml\n    mamba activate hexapod-sim\n    ```\n   \n   The Hexapod-Controller code will be automatically installed as a package. After this, from within the `hexapod-sim` mamba environment, you will be able to do something like this:\n\n   ```python\n   from controller import HexapodController\n   ```\n   \n## 🚀 Delpoy\n\n- `viser/main.py` will open a Viser-based Hexapod demo, showing the Hexapod moving forward and performing some adjustments along the way (changing body height, speed, body yaw, ...).  \n\n   ```bash\n   python viser/main.py\n   ```\n\n- `bullet/main.py` will open a PyBullet Hexapod simulation, showing how the robot behaves when physics is involved. \nI used the actual stall torque the servos are rated for to simulate the motors.\n\n   ```bash\n   python bullet/main.py\n   ```\n\n## 🤝 Contribution\n\nFeel free to contribute by opening issues or submitting pull requests. For further information, check out the [main Hexapod repository](https://github.com/ggldnl/Hexapod). Give a ⭐️ to this project if you liked the content.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fggldnl%2Fhexapod-simulation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fggldnl%2Fhexapod-simulation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fggldnl%2Fhexapod-simulation/lists"}